1#include <linux/interrupt.h> 2#include <linux/irq.h> 3#include <linux/gpio.h> 4#include <linux/workqueue.h> 5#include <linux/mutex.h> 6#include <linux/device.h> 7#include <linux/kernel.h> 8#include <linux/spi/spi.h> 9#include <linux/slab.h> 10#include <linux/sysfs.h> 11#include <linux/list.h> 12 13#include "../iio.h" 14#include "../sysfs.h" 15#include "../ring_sw.h" 16#include "../accel/accel.h" 17#include "../trigger.h" 18#include "adis16400.h" 19 20static IIO_SCAN_EL_C(supply, ADIS16400_SCAN_SUPPLY, IIO_SIGNED(14), 21 ADIS16400_SUPPLY_OUT, NULL); 22 23static IIO_SCAN_EL_C(gyro_x, ADIS16400_SCAN_GYRO_X, IIO_SIGNED(14), 24 ADIS16400_XGYRO_OUT, NULL); 25static IIO_SCAN_EL_C(gyro_y, ADIS16400_SCAN_GYRO_Y, IIO_SIGNED(14), 26 ADIS16400_YGYRO_OUT, NULL); 27static IIO_SCAN_EL_C(gyro_z, ADIS16400_SCAN_GYRO_Z, IIO_SIGNED(14), 28 ADIS16400_ZGYRO_OUT, NULL); 29 30static IIO_SCAN_EL_C(accel_x, ADIS16400_SCAN_ACC_X, IIO_SIGNED(14), 31 ADIS16400_XACCL_OUT, NULL); 32static IIO_SCAN_EL_C(accel_y, ADIS16400_SCAN_ACC_Y, IIO_SIGNED(14), 33 ADIS16400_YACCL_OUT, NULL); 34static IIO_SCAN_EL_C(accel_z, ADIS16400_SCAN_ACC_Z, IIO_SIGNED(14), 35 ADIS16400_ZACCL_OUT, NULL); 36 37static IIO_SCAN_EL_C(magn_x, ADIS16400_SCAN_MAGN_X, IIO_SIGNED(14), 38 ADIS16400_XMAGN_OUT, NULL); 39static IIO_SCAN_EL_C(magn_y, ADIS16400_SCAN_MAGN_Y, IIO_SIGNED(14), 40 ADIS16400_YMAGN_OUT, NULL); 41static IIO_SCAN_EL_C(magn_z, ADIS16400_SCAN_MAGN_Z, IIO_SIGNED(14), 42 ADIS16400_ZMAGN_OUT, NULL); 43 44static IIO_SCAN_EL_C(temp, ADIS16400_SCAN_TEMP, IIO_SIGNED(12), 45 ADIS16400_TEMP_OUT, NULL); 46static IIO_SCAN_EL_C(adc_0, ADIS16400_SCAN_ADC_0, IIO_SIGNED(12), 47 ADIS16400_AUX_ADC, NULL); 48 49static IIO_SCAN_EL_TIMESTAMP(12); 50 51static struct attribute *adis16400_scan_el_attrs[] = { 52 &iio_scan_el_supply.dev_attr.attr, 53 &iio_scan_el_gyro_x.dev_attr.attr, 54 &iio_scan_el_gyro_y.dev_attr.attr, 55 &iio_scan_el_gyro_z.dev_attr.attr, 56 &iio_scan_el_accel_x.dev_attr.attr, 57 &iio_scan_el_accel_y.dev_attr.attr, 58 &iio_scan_el_accel_z.dev_attr.attr, 59 &iio_scan_el_magn_x.dev_attr.attr, 60 &iio_scan_el_magn_y.dev_attr.attr, 61 &iio_scan_el_magn_z.dev_attr.attr, 62 &iio_scan_el_temp.dev_attr.attr, 63 &iio_scan_el_adc_0.dev_attr.attr, 64 &iio_scan_el_timestamp.dev_attr.attr, 65 NULL, 66}; 67 68static struct attribute_group adis16400_scan_el_group = { 69 .attrs = adis16400_scan_el_attrs, 70 .name = "scan_elements", 71}; 72 73/** 74 * adis16400_poll_func_th() top half interrupt handler called by trigger 75 * @private_data: iio_dev 76 **/ 77static void adis16400_poll_func_th(struct iio_dev *indio_dev, s64 time) 78{ 79 struct adis16400_state *st = iio_dev_get_devdata(indio_dev); 80 st->last_timestamp = time; 81 schedule_work(&st->work_trigger_to_ring); 82 /* Indicate that this interrupt is being handled */ 83 84 /* Technically this is trigger related, but without this 85 * handler running there is currently no way for the interrupt 86 * to clear. 87 */ 88} 89 90/** 91 * adis16400_spi_read_burst() - read all data registers 92 * @dev: device associated with child of actual device (iio_dev or iio_trig) 93 * @rx: somewhere to pass back the value read (min size is 24 bytes) 94 **/ 95static int adis16400_spi_read_burst(struct device *dev, u8 *rx) 96{ 97 struct spi_message msg; 98 struct iio_dev *indio_dev = dev_get_drvdata(dev); 99 struct adis16400_state *st = iio_dev_get_devdata(indio_dev); 100 u32 old_speed_hz = st->us->max_speed_hz; 101 int ret; 102 103 struct spi_transfer xfers[] = { 104 { 105 .tx_buf = st->tx, 106 .bits_per_word = 8, 107 .len = 2, 108 .cs_change = 0, 109 }, { 110 .rx_buf = rx, 111 .bits_per_word = 8, 112 .len = 24, 113 .cs_change = 1, 114 }, 115 }; 116 117 mutex_lock(&st->buf_lock); 118 st->tx[0] = ADIS16400_READ_REG(ADIS16400_GLOB_CMD); 119 st->tx[1] = 0; 120 121 spi_message_init(&msg); 122 spi_message_add_tail(&xfers[0], &msg); 123 spi_message_add_tail(&xfers[1], &msg); 124 125 st->us->max_speed_hz = min(ADIS16400_SPI_BURST, old_speed_hz); 126 spi_setup(st->us); 127 128 ret = spi_sync(st->us, &msg); 129 if (ret) 130 dev_err(&st->us->dev, "problem when burst reading"); 131 132 st->us->max_speed_hz = old_speed_hz; 133 spi_setup(st->us); 134 mutex_unlock(&st->buf_lock); 135 return ret; 136} 137 138/* Whilst this makes a lot of calls to iio_sw_ring functions - it is to device 139 * specific to be rolled into the core. 140 */ 141static void adis16400_trigger_bh_to_ring(struct work_struct *work_s) 142{ 143 struct adis16400_state *st 144 = container_of(work_s, struct adis16400_state, 145 work_trigger_to_ring); 146 147 int i = 0; 148 s16 *data; 149 size_t datasize = st->indio_dev 150 ->ring->access.get_bpd(st->indio_dev->ring); 151 152 data = kmalloc(datasize , GFP_KERNEL); 153 if (data == NULL) { 154 dev_err(&st->us->dev, "memory alloc failed in ring bh"); 155 return; 156 } 157 158 if (st->indio_dev->scan_count) 159 if (adis16400_spi_read_burst(&st->indio_dev->dev, st->rx) >= 0) 160 for (; i < st->indio_dev->scan_count; i++) 161 data[i] = be16_to_cpup( 162 (__be16 *)&(st->rx[i*2])); 163 164 /* Guaranteed to be aligned with 8 byte boundary */ 165 if (st->indio_dev->scan_timestamp) 166 *((s64 *)(data + ((i + 3)/4)*4)) = st->last_timestamp; 167 168 st->indio_dev->ring->access.store_to(st->indio_dev->ring, 169 (u8 *)data, 170 st->last_timestamp); 171 172 iio_trigger_notify_done(st->indio_dev->trig); 173 kfree(data); 174 175 return; 176} 177 178void adis16400_unconfigure_ring(struct iio_dev *indio_dev) 179{ 180 kfree(indio_dev->pollfunc); 181 iio_sw_rb_free(indio_dev->ring); 182} 183 184int adis16400_configure_ring(struct iio_dev *indio_dev) 185{ 186 int ret = 0; 187 struct adis16400_state *st = indio_dev->dev_data; 188 struct iio_ring_buffer *ring; 189 INIT_WORK(&st->work_trigger_to_ring, adis16400_trigger_bh_to_ring); 190 /* Set default scan mode */ 191 192 iio_scan_mask_set(indio_dev, iio_scan_el_supply.number); 193 iio_scan_mask_set(indio_dev, iio_scan_el_gyro_x.number); 194 iio_scan_mask_set(indio_dev, iio_scan_el_gyro_y.number); 195 iio_scan_mask_set(indio_dev, iio_scan_el_gyro_z.number); 196 iio_scan_mask_set(indio_dev, iio_scan_el_accel_x.number); 197 iio_scan_mask_set(indio_dev, iio_scan_el_accel_y.number); 198 iio_scan_mask_set(indio_dev, iio_scan_el_accel_z.number); 199 iio_scan_mask_set(indio_dev, iio_scan_el_magn_x.number); 200 iio_scan_mask_set(indio_dev, iio_scan_el_magn_y.number); 201 iio_scan_mask_set(indio_dev, iio_scan_el_magn_z.number); 202 iio_scan_mask_set(indio_dev, iio_scan_el_temp.number); 203 iio_scan_mask_set(indio_dev, iio_scan_el_adc_0.number); 204 indio_dev->scan_timestamp = true; 205 206 indio_dev->scan_el_attrs = &adis16400_scan_el_group; 207 208 ring = iio_sw_rb_allocate(indio_dev); 209 if (!ring) { 210 ret = -ENOMEM; 211 return ret; 212 } 213 indio_dev->ring = ring; 214 /* Effectively select the ring buffer implementation */ 215 iio_ring_sw_register_funcs(&ring->access); 216 ring->bpe = 2; 217 ring->preenable = &iio_sw_ring_preenable; 218 ring->postenable = &iio_triggered_ring_postenable; 219 ring->predisable = &iio_triggered_ring_predisable; 220 ring->owner = THIS_MODULE; 221 222 ret = iio_alloc_pollfunc(indio_dev, NULL, &adis16400_poll_func_th); 223 if (ret) 224 goto error_iio_sw_rb_free; 225 226 indio_dev->modes |= INDIO_RING_TRIGGERED; 227 return 0; 228 229error_iio_sw_rb_free: 230 iio_sw_rb_free(indio_dev->ring); 231 return ret; 232} 233